JPH0439086B2 - - Google Patents

Info

Publication number
JPH0439086B2
JPH0439086B2 JP57055927A JP5592782A JPH0439086B2 JP H0439086 B2 JPH0439086 B2 JP H0439086B2 JP 57055927 A JP57055927 A JP 57055927A JP 5592782 A JP5592782 A JP 5592782A JP H0439086 B2 JPH0439086 B2 JP H0439086B2
Authority
JP
Japan
Prior art keywords
point
path
center point
bias
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP57055927A
Other languages
English (en)
Japanese (ja)
Other versions
JPS57178689A (en
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Publication of JPS57178689A publication Critical patent/JPS57178689A/ja
Publication of JPH0439086B2 publication Critical patent/JPH0439086B2/ja
Granted legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45135—Welding
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45187—Printer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50167—Adapting to copying

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP57055927A 1981-04-03 1982-04-03 Device for dynamically controlling central point of working section of robot arm so as to slip out of predetermined course Granted JPS57178689A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/250,908 US4403281A (en) 1981-04-03 1981-04-03 Apparatus for dynamically controlling the tool centerpoint of a robot arm off a predetermined path

Publications (2)

Publication Number Publication Date
JPS57178689A JPS57178689A (en) 1982-11-02
JPH0439086B2 true JPH0439086B2 (enrdf_load_stackoverflow) 1992-06-26

Family

ID=22949659

Family Applications (1)

Application Number Title Priority Date Filing Date
JP57055927A Granted JPS57178689A (en) 1981-04-03 1982-04-03 Device for dynamically controlling central point of working section of robot arm so as to slip out of predetermined course

Country Status (7)

Country Link
US (1) US4403281A (enrdf_load_stackoverflow)
JP (1) JPS57178689A (enrdf_load_stackoverflow)
CA (1) CA1167143A (enrdf_load_stackoverflow)
DE (1) DE3210675A1 (enrdf_load_stackoverflow)
FR (1) FR2503010B1 (enrdf_load_stackoverflow)
GB (1) GB2096362B (enrdf_load_stackoverflow)
SE (1) SE455846C (enrdf_load_stackoverflow)

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US4380696A (en) * 1980-11-12 1983-04-19 Unimation, Inc. Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing
JPS57113115A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113116A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS5858607A (ja) * 1981-10-05 1983-04-07 Sankyo Seiki Mfg Co Ltd プリセツト式ロボツトにおけるポイント測定方式
JPS5877775A (ja) * 1981-10-07 1983-05-11 Yaskawa Electric Mfg Co Ltd 溶接ロボツトの制御方式
FR2519690A1 (fr) * 1982-01-11 1983-07-18 Montabert Ets Dispositif d'asservissement electro-hydraulique de bras-support articule pour glissiere d'appareil de foration
US4486843A (en) * 1982-03-03 1984-12-04 Nordson Corporation Transitional command position modification for a controller
US4484294A (en) * 1982-03-03 1984-11-20 Nordson Corporation Method and apparatus for modification of a prerecorded programmed sequence of motions during execution thereof by a robot
US4481591A (en) * 1982-03-03 1984-11-06 Nordson Corporation Method and apparatus for modifying a prerecorded sequence of ON/OFF commands for controlling a bistable device operating in conjunction with a moving robot under program control
DE3244307A1 (de) * 1982-11-30 1984-05-30 Siemens AG, 1000 Berlin und 8000 München Robotersteuerung
JPS59114609A (ja) * 1982-12-22 1984-07-02 Hitachi Ltd ロボットの制御装置
JPS59153207A (ja) * 1983-02-21 1984-09-01 Mitsubishi Electric Corp ロボツトの制御装置
US4484120A (en) * 1983-04-13 1984-11-20 Nordson Corporation Auxiliary function command presequencing for a robot controller
US4562391A (en) * 1983-06-08 1985-12-31 Inoue-Japax Research Incorporated Robotic positioning system
JPS59231607A (ja) * 1983-06-14 1984-12-26 Mitsubishi Electric Corp ロボツトの制御装置
SE8304100L (sv) * 1983-07-22 1985-01-23 Ibm Svenska Ab System for automatisk kalibrering av rymdkoordinaterna hos en robotgripper i sex frihetsgrader
DE3332749A1 (de) * 1983-09-10 1985-03-28 Ibau Hamburg Ingenieurgesellschaft Industriebau Mbh, 2000 Hamburg Verfahren zum befuellen von kesselfahrzeugen, insbesondere mit schuettgut wie zement
EP0142072A3 (en) * 1983-11-15 1986-12-30 Aida Engineering Ltd. Grinding robot
JPS6115209A (ja) * 1984-06-29 1986-01-23 Sumitomo Metal Ind Ltd 溶接線倣い方法
JP2628297B2 (ja) * 1984-07-03 1997-07-09 新明和工業株式会社 ロボット制御方法およびその装置
JPS6115207A (ja) * 1984-06-29 1986-01-23 Shin Meiwa Ind Co Ltd ロボツト制御方法およびその装置
JPS61157903A (ja) * 1984-12-28 1986-07-17 Yaskawa Electric Mfg Co Ltd ロボツトの制御方法
JPS61163404A (ja) * 1985-01-12 1986-07-24 Fanuc Ltd サ−ボコントロ−ラのインタフエイス方式
JPH0789286B2 (ja) * 1986-02-28 1995-09-27 株式会社日立製作所 多関節マニピユレ−タの作業原点決定方法
EP0269372A3 (en) * 1986-11-20 1988-08-17 Unimation Inc. Robot with micro processor-based digital robot control
EP0269374A3 (en) * 1986-11-20 1988-08-24 Unimation Inc. Modular robot control system
EP0268491A3 (en) * 1986-11-20 1988-08-03 Unimation Inc. Multiaxis robot having improved motion control
US4786847A (en) * 1986-11-20 1988-11-22 Unimation Inc. Digital control for multiaxis robots
JPS63288658A (ja) * 1987-05-21 1988-11-25 Mitsubishi Electric Corp バリ取り用ロボット装置
JP2511072B2 (ja) * 1987-10-23 1996-06-26 三菱重工業株式会社 ロボットにおける教示デ―タの記録・再生方法
EP0328887A1 (de) * 1988-02-18 1989-08-23 Siemens Aktiengesellschaft Anordnung zum Beeinflussen von automatisierten Prozessen mit Industrierobotern, zum Beispiel beim Abdecken von elektronischen Bauteilen auf Hybridschaltungen
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
US5014183A (en) * 1988-10-31 1991-05-07 Cincinnati Milacron, Inc. Method and means for path offsets memorization and recall in a manipulator
US5102280A (en) * 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
US5197846A (en) * 1989-12-22 1993-03-30 Hitachi, Ltd. Six-degree-of-freedom articulated robot mechanism and assembling and working apparatus using same
WO1992002871A1 (en) * 1990-08-08 1992-02-20 Digital Arts Film & Television Pty. Ltd. Motion control system for cinematography
CA2082790A1 (en) * 1991-12-02 1993-06-03 R. David Hemmerle Automated maintenance system for computer numerically controlled machines
JP2812920B2 (ja) * 1996-05-30 1998-10-22 川崎重工業株式会社 ロボットの動作指令作成方法
US6560513B2 (en) * 1999-11-19 2003-05-06 Fanuc Robotics North America Robotic system with teach pendant
US6313595B2 (en) 1999-12-10 2001-11-06 Fanuc Robotics North America, Inc. Method of controlling an intelligent assist device in a plurality of distinct workspaces
US6204620B1 (en) 1999-12-10 2001-03-20 Fanuc Robotics North America Method of controlling an intelligent assist device
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6455800B1 (en) * 2001-01-04 2002-09-24 Festo Corporation Servo-pneumatic modular weld gun
US8219246B2 (en) * 2001-06-13 2012-07-10 Oliver Crispin Robotics Limited System and method for controlling a robotic arm
US20050220582A1 (en) * 2002-09-13 2005-10-06 Tokyo Electron Limited Teaching method and processing system
JP2006099260A (ja) * 2004-09-28 2006-04-13 Fanuc Ltd ロボットプログラム作成装置
US20070142966A1 (en) * 2005-12-20 2007-06-21 Khalid Mirza Process for moving a robot
DE102007062109A1 (de) * 2007-12-21 2009-06-25 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Steuern eines Industrieroboters
JP4443614B2 (ja) * 2008-02-27 2010-03-31 トヨタ自動車株式会社 パワーアシスト装置及びその制御方法
JP2011108044A (ja) * 2009-11-18 2011-06-02 Fanuc Ltd Ｎ個のロボットを同時に制御するロボット制御装置
JP6008121B2 (ja) * 2013-01-28 2016-10-19 セイコーエプソン株式会社 ロボットおよびロボット制御装置
DE102014226933B3 (de) * 2014-12-23 2016-03-24 Kuka Roboter Gmbh Vorrichtung und Verfahren zum Aufnehmen von Positionen
CN106003083B (zh) * 2016-06-28 2018-02-13 宁波优学智能科技有限公司 一种视频监控机器人
DE102016217118A1 (de) 2016-09-08 2018-03-08 Siemens Aktiengesellschaft Manipulator und Verfahren zur Regelung einer Bewegung eines Manipulators
CN108081255B (zh) * 2016-11-23 2019-10-15 广汽乘用车有限公司 一种机器人零点校准方法及装置
DE102018117244B3 (de) * 2018-07-17 2019-10-31 Lti Motion Gmbh Verfahren zum Ermitteln einer Grobbahn aus einer vorgegebenen Kontur
US11707843B2 (en) * 2020-04-03 2023-07-25 Fanuc Corporation Initial reference generation for robot optimization motion planning
DE112021004072B4 (de) * 2020-07-29 2025-05-22 Fanuc Corporation Robotersystem
JP7276359B2 (ja) * 2021-01-07 2023-05-18 株式会社安川電機 動作指令生成装置、機構制御システム、コンピュータプログラム、動作指令生成方法及び機構制御方法
EP4521177A1 (en) * 2023-09-08 2025-03-12 Newfrey LLC Device for joining and joining method with a detection device for aligning a joining head

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3770947A (en) * 1971-08-20 1973-11-06 City Nat Bank Of Detroit Tool control
US3909600A (en) * 1972-06-26 1975-09-30 Cincinnati Milacron Inc Method and apparatus for controlling an automation along a predetermined path
US3866179A (en) * 1972-09-22 1975-02-11 Giddings & Lewis Numerical control with envelope offset and automatic path segment transitions
US4035706A (en) * 1973-07-26 1977-07-12 Hymie Cutler Offset path generating system particularly useful for numerical control machines
JPS5132587B2 (enrdf_load_stackoverflow) * 1973-09-17 1976-09-13
US3888361A (en) * 1974-05-15 1975-06-10 Unimation Inc Programmed manipulator arrangement for continuously moving conveyor
JPS50159445A (enrdf_load_stackoverflow) * 1974-06-14 1975-12-24
US3920972A (en) * 1974-07-16 1975-11-18 Cincinnati Milacron Inc Method and apparatus for programming a computer operated robot arm
US4025838A (en) * 1974-12-26 1977-05-24 Kawasaki Heavy Industries, Ltd. Signal modification device for memory controlled manipulator apparatus
SE416452B (sv) * 1975-06-16 1981-01-05 Asea Ab Industrirobot
US4011437A (en) * 1975-09-12 1977-03-08 Cincinnati Milacron, Inc. Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece
USRE30016E (en) 1975-09-12 1979-05-29 Cincinnati Milacron Inc. Method and apparatus for compensating for unprogrammed changes in relative position between a machine and workpiece
US4140953A (en) * 1976-03-03 1979-02-20 Unimation, Inc. Real time program modification apparatus
SE402540B (sv) * 1976-08-13 1978-07-10 Asea Ab Forfarande och anordning for att vid en givarstyrd industrirobot astadkomma en approximativ transformation mellan givarens och robotarmens olika koordinatsystem for styrning av roboten inom ett forutbestemt ...
US4086522A (en) * 1976-09-08 1978-04-25 Unimation, Inc. Computer assisted teaching arrangement for conveyor line operation
US4162527A (en) * 1977-07-29 1979-07-24 Hamill Company, Inc. Numerically controlled machine tool system with programmable tool offset
US4178632A (en) * 1978-03-06 1979-12-11 Cincinnati Milacron Inc. Method for controlling the operation of a computer operated robot arm
JPS5858682B2 (ja) * 1978-04-26 1983-12-27 ファナック株式会社 産業用ロボツトの制御方式
US4356554A (en) * 1980-09-12 1982-10-26 Thermwood Corporation Method and apparatus for compensating for system error in an industrial robot control

Also Published As

Publication number Publication date
SE455846C (sv) 1989-11-27
DE3210675A1 (de) 1982-10-28
GB2096362B (en) 1985-02-06
SE455846B (sv) 1988-08-15
FR2503010A1 (fr) 1982-10-08
DE3210675C2 (enrdf_load_stackoverflow) 1989-04-27
US4403281A (en) 1983-09-06
SE8202088L (sv) 1982-10-04
CA1167143A (en) 1984-05-08
FR2503010B1 (fr) 1986-03-07
JPS57178689A (en) 1982-11-02
GB2096362A (en) 1982-10-13

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